MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.2s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.7s	12 errors · 301 warnings · 1505 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-03-18-29-44-609216-ccb98980ca5c-7513 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.26sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.26sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 4.32sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.33sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.33sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.33sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.35sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.36sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.37sINFOcontroller_managerupdate rate is 600 Hz + 4.37sINFOcontroller_managerOverruns handling is : enabled + 4.37sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.37sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.258792 ms (missed cycles : 8). + 4.50sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.53sINFOros2_control_node-9process started with pid [7571] ×2 + 4.53sINFOmove_group-21process started with pid [7662] ×2 + 4.53sINFOparameter_manager_node-22process started with pid [7663] ×2 + 4.53sINFOwaypoint_manager_node-23process started with pid [7664] ×2 + 4.53sINFOmove_joint_resampler_node-24process started with pid [7700] ×2 + 4.53sINFOmove_end_effector_resampler_node-25process started with pid [7701] ×2 + 4.53sINFOobjective_server_node_main-26process started with pid [7702] ×2 + 4.53sINFOcomponent_container_mt-27process started with pid [7704] ×2 + 4.54sINFOcomponent_container_mt-28process started with pid [7705] ×2 + 4.54sINFOexecute_objective_bridge-29process started with pid [7706] ×2 + 4.54sINFOui_teleop_bridge-30process started with pid [7707] ×2 + 4.54sINFOweb_bridge-31process started with pid [7712] ×2 + 4.54sINFOtf2_web_republisher_node-32process started with pid [7713] ×2 + 4.54sINFOvideo_server-33process started with pid [7714] ×2 + 4.54sINFOweb_bridge_auth_proxy-34process started with pid [7715] ×2 + 4.54sINFOweb_video_auth_proxy-35process started with pid [7718] ×2 + 4.55sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.55sINFOcomponent_container_isolated-1process started with pid [7563] ×2 + 4.55sINFOcomponent_container_isolated-2process started with pid [7564] ×2 + 4.55sINFOstatic_transform_publisher-3process started with pid [7565] ×2 + 4.55sINFOstatic_transform_publisher-4process started with pid [7566] ×2 + 4.55sINFOodom_qos_relay.py-5process started with pid [7567] ×2 + 4.55sINFOforward_stereo_publisher.py-6process started with pid [7568] ×2 + 4.55sINFOscan_to_scan_filter_chain-7process started with pid [7569] ×2 + 4.55sINFOscan_to_scan_filter_chain-8process started with pid [7570] ×2 + 4.55sINFOros2-10process started with pid [7651] ×2 + 4.55sINFOros2-11process started with pid [7652] ×2 + 4.55sINFOros2-12process started with pid [7653] ×2 + 4.55sINFOros2-13process started with pid [7654] ×2 + 4.55sINFOros2-14process started with pid [7655] ×2 + 4.55sINFOros2-15process started with pid [7656] ×2 + 4.55sINFOros2-16process started with pid [7657] ×2 + 4.55sINFOros2-17process started with pid [7658] ×2 + 4.55sINFOros2-18process started with pid [7659] ×2 + 4.55sINFOros2-19process started with pid [7660] ×2 + 4.56sINFOros2-20process started with pid [7661] ×2 + 4.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.59sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.59sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.59sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.60sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 4.60sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 4.60sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.60sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.60sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.60sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.60sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.60sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.61sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.61sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.61sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.61sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.258792 ms (missed cycles : 8).[0m ×2 + 4.64sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.64sINFOmap_serverCreating + 4.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.65sINFOcontroller_serverCreating controller server + 4.66sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.66sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.66sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.69sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.70sINFOlocal_costmap.local_costmapCreating Costmap + 4.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.72sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.72sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.73sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.74sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.75sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.76sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.77sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.77sINFOlifecycle_manager_localizationCreating + 4.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.77sINFOsmoother_serverCreating smoother server + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.79sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.80sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.80sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.80sINFOmap_serverConfiguring + 4.81sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.83sINFOrobot_state_publisherRobot initialized + 4.83sINFOcontroller_managerReceived robot description from topic. + 4.83sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.83sINFOplanner_serverCreating + 4.84sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.84sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.84sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.85sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.88sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.88sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.88sINFOamclConfiguring + 4.88sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.88sINFOmap_serverActivating + 4.88sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.88sINFOglobal_costmap.global_costmapCreating Costmap + 4.89sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.89sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.91sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.92sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.92sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 4.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.95sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 4.96sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 4.98sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.98sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.99sINFOvideo_server2026/09/03 18:29:51 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.99sINFOvideo_server2026/09/03 18:29:51 INF configuration loaded from /tmp/moveit-webrtc-dxbb_l59/mediamtx.yml ×2 + 4.99sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.99sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.99sINFOvideo_server2026/09/03 18:29:51 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.99sINFOamclActivating + 4.99sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.99sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.99sINFOvideo_server2026/09/03 18:29:51 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.00sINFOamclSubscribed to map_topic: /map + 5.01sINFOamclSubscribed to scan_topic: /scan_merged + 5.01sINFOamclCreated reinitialize_global_localization service + 5.01sINFOamclCreated request_nomotion_update service + 5.03sINFOamclA new map was received + 5.03sINFOamclInitializing particle filter instance + 5.06sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.08sINFObt_navigatorCreating + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.13sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.14sINFOwaypoint_followerCreating + 5.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.18sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.24sINFOlifecycle_manager_navigationCreating + 5.27sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.27sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.27sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.27sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.31sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.31sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.31sINFOcontroller_serverConfiguring controller interface + 5.31sINFOcontroller_servergetting progress checker plugins.. + 5.31sINFOcontroller_servergetting goal checker plugins.. + 5.31sINFOcontroller_serverController frequency set to 20.0000Hz + 5.31sINFOlocal_costmap.local_costmapConfiguring + 5.32sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.35sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.36sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.36sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.36sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.39sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.40sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.40sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.40sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.40sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.378478 seconds + 5.40sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.40sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.40sINFOmove_groupLoaded robot model in 0.378478 seconds[0m ×2 + 5.40sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.40sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.41sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.42sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.43sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.43sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.44sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.45sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.45sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.45sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.46sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.46sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.47sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.47sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.49sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.49sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894940 ms (missed cycles : 6). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894940 ms (missed cycles : 6).[0m ×2 + 5.53sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.53sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.54sINFOcontroller_serverOptimizer reset ×2 + 5.54sINFOamclParticle filter initialization completed + 5.54sINFOamclInitializing particles from estimated pose and covariance + 5.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.55sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.55sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.55sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.55sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.56sINFOcontroller_serverController Server has FollowPath controllers available. + 5.58sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.58sINFOsmoother_serverConfiguring smoother server + 5.59sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 5.59sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.61sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.61sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.62sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.62sINFOplanner_serverConfiguring + 5.62sINFOglobal_costmap.global_costmapConfiguring + 5.64sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.65sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.65sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.65sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.66sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.70sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.70sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.71sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.77sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.78sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.78sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.79sINFOplanner_serverPlanner Server has GridBased planners available. + 5.83sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.84sINFObehavior_serverConfiguring + 5.85sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.86sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.87sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.87sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.88sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.88sINFObehavior_serverConfiguring spin + 5.90sINFObehavior_serverConfiguring backup + 5.92sINFObehavior_serverConfiguring drive_on_heading + 5.93sINFObehavior_serverConfiguring assisted_teleop + 5.95sINFObehavior_serverConfiguring wait + 5.96sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.96sINFObt_navigatorConfiguring + 5.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 5.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 5.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.99sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.00sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.07sINFOwaypoint_manager_nodeLoaded robot model in 0.330564 seconds[0m ×2 + 6.07sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.07sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.12sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.16sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.16sINFOwaypoint_followerConfiguring + 6.18sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.18sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.18sINFOvelocity_smootherConfiguring velocity smoother + 6.19sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.19sINFOcontroller_serverActivating + 6.19sINFOlocal_costmap.local_costmapActivating + 6.19sINFOlocal_costmap.local_costmapChecking transform + 6.19sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×3 + 6.24sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.24sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.24sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.24sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.27sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 6.27sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.31sINFOmove_group[2026-09-03 18:29:52.566] [moveit_pro_license] [info] ×2 + 6.31sINFOmove_group************************************************* ×4 + 6.31sINFOmove_group* MoveIt Pro License ×2 + 6.31sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.67sINFOwaypoint_manager_node[2026-09-03 18:29:52.921] [moveit_pro_license] [info] ×2 + 6.67sINFOwaypoint_manager_node************************************************* ×4 + 6.67sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.67sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.79sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.79sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.79sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.79sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.79sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.79sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.79sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.80sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.80sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.80sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.80sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.80sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.80sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.03sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.04sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.04sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.14sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.14sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.14sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.14sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.14sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.14sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.14sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.14sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.14sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.14sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.14sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.14sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.14sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.14sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.14sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.14sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 7.14sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 7.14sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.14sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 7.14sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 7.14sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 7.14sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 7.14sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.14sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 7.14sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 7.14sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.14sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 7.14sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.14sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.14sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.14sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.14sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.14sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.14sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.14sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.35sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.35sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.35sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.35sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.36sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 + 7.36sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 [0m ×2 + 7.38sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.38sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.39sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.39sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.40sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.40sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.41sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.41sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.54sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.57sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.58sINFOobjective_server_node[2026-09-03 18:29:53.831] [moveit_pro_license] [info] ×2 + 7.58sINFOobjective_server_node************************************************* ×4 + 7.58sINFOobjective_server_node* MoveIt Pro License ×2 + 7.58sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.58sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 4.745ms + 7.65sINFOobjective_server_nodeLoaded robot model in 0.0331328 seconds[0m ×2 + 7.65sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.65sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203790 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203790 ms (missed cycles : 2).[0m ×2 + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.66sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.69sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.69sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.69sINFOlocal_costmap.local_costmapstart + 7.69sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.69sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.69sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.69sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 7.69sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.70sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 7.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.70sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.70sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.71sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.71sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.71sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 + 7.71sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 [0m ×2 + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.76sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.76sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.76sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.77sINFOros2-12process has finished cleanly [pid 7653] ×2 + 7.78sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 7.80sWARNcontroller_serverParameter controller_server.verbose not found + 7.80sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 7.82sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.82sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.82sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.82sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.82sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 7.82sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.82sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 7.82sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 7.82sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.82sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 7.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.82sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 7.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.83sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.91sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 7.91sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 7.91sINFOsmoother_serverActivating + 7.91sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 7.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.93sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.95sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 7.95sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 7.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.01sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 8.01sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 8.01sINFOplanner_serverActivating + 8.01sINFOglobal_costmap.global_costmapActivating + 8.01sINFOglobal_costmap.global_costmapChecking transform + 8.01sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1788460194.215354 but the earliest data is at time 1788460194.710217, when looking up transform from frame [ridgeback_base_link] to frame [map] + 8.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.13sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 8.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 8.13sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.13sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.14sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.14sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 [0m ×2 + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.16sINFOros2-16process has finished cleanly [pid 7657] ×2 + 8.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.20sINFOcomponent_container_mtLoaded robot model in 0.42048 seconds[0m ×2 + 8.20sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.20sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.21sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 8.21sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 8.21sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 8.21sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 8.21sINFOplatform_velocity_controller_nav2configure successful + 8.21sINFOros2_control_nodeconfigure successful[0m ×6 + 8.24sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.24sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.25sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.25sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.25sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.25sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.25sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.25sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.25sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.38sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788460193.510 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 8.51sINFOglobal_costmap.global_costmapstart + 8.53sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.53sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.53sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.53sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.57sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.57sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.57sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.57sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.57sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.57sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.57sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.57sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.57sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.57sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.57sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.57sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.57sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.57sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.57sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.57sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.57sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.57sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.57sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.57sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.57sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.58sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.61sINFOros2-15process has finished cleanly [pid 7656] ×2 + 8.67sINFOmove_groupMoveGroup debug mode is ON + 8.67sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.67sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742213 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742213 ms (missed cycles : 2).[0m ×2 + 8.70sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 + 8.70sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 [0m ×2 + 8.73sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.73sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.73sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.73sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.73sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.74sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.74sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.76sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.76sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.76sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.76sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.76sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.76sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.77sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.78sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.80sINFOcomponent_container_mt[2026-09-03 18:29:55.049] [moveit_pro_license] [info] ×2 + 8.80sINFOcomponent_container_mt************************************************* ×4 + 8.80sINFOcomponent_container_mt* MoveIt Pro License ×2 + 8.80sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.84sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 8.84sINFOmove_group ×8 + 8.84sINFOmove_group****************************************************** ×4 + 8.84sINFOmove_group* MoveGroup using: ×2 + 8.84sINFOmove_group* - apply_planning_scene_service ×2 + 8.84sINFOmove_group* - clear_octomap_service ×2 + 8.84sINFOmove_group* - get_group_urdf ×2 + 8.84sINFOmove_group* - load_geometry_from_file ×2 + 8.84sINFOmove_group* - get_planning_scene_service ×2 + 8.84sINFOmove_group* - kinematics_service ×2 + 8.84sINFOmove_group* - save_geometry_to_file ×2 + 8.84sINFOmove_group* - GetPlanningGroups ×2 + 8.84sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.84sINFOmove_group[0m ×2 + 8.84sINFOmove_group[92mYou can start planning now![0m ×2 + 9.00sWARNros2_control_nodeCamera render tick took 0.76 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.11sINFOros2_control_node[2026-09-03 18:29:55.355] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.11sINFOros2_control_node[2026-09-03 18:29:55.358] [info] Controller state will be published at 10 Hz. ×2 + 9.11sINFOros2_control_node[2026-09-03 18:29:55.360] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.15sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.15sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.16sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.43sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.43sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.43sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 + 9.43sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 [0m ×2 + 9.46sINFOros2-18process has finished cleanly [pid 7659] ×2 + 9.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.50sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 9.57sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 9.57sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 9.67sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 9.67sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 9.67sINFObehavior_serverActivating + 9.67sINFObehavior_serverActivating spin + 9.67sINFObehavior_serverActivating backup + 9.67sINFObehavior_serverActivating drive_on_heading + 9.67sINFObehavior_serverActivating assisted_teleop + 9.67sINFObehavior_serverActivating wait + 9.67sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708590 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708590 ms (missed cycles : 3).[0m ×2 + 9.78sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 9.78sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 9.78sINFObt_navigatorActivating + 9.84sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 9.89sINFOros2_control_node[2026-09-03 18:29:56.142] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.89sINFOros2_control_node[2026-09-03 18:29:56.143] [info] Controller state will be published at 10 Hz. ×2 + 9.89sINFOros2_control_node[2026-09-03 18:29:56.144] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.95sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 9.95sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 9.95sINFOwaypoint_followerActivating + 9.95sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 10.05sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 10.05sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 10.05sINFOvelocity_smootherActivating + 10.05sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 10.16sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 10.16sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 10.16sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 10.20sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.20sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.20sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.20sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.20sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 + 10.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 [0m ×2 + 10.23sINFOros2-17process has finished cleanly [pid 7658] ×2 + 10.25sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.25sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.25sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.25sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.25sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.25sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.26sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.26sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 10.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.56sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.58sINFOros2-11process has finished cleanly [pid 7652] ×2 + 10.63sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 + 10.63sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 [0m ×2 + 10.68sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.68sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.68sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.68sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051543 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051543 ms (missed cycles : 2).[0m ×2 + 11.07sINFOros2_control_node[2026-09-03 18:29:57.324] [info] Controller state will be published at 20 Hz. ×2 + 11.07sINFOros2_control_node[2026-09-03 18:29:57.325] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.41sINFOros2-20process has finished cleanly [pid 7661] ×2 + 11.49sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.49sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.49sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 + 11.50sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.50sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 [0m ×2 + 11.54sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.54sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.87sINFOros2_control_node[2026-09-03 18:29:58.116] [info] Controller state will be published at 20 Hz. ×2 + 11.87sINFOros2_control_node[2026-09-03 18:29:58.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140599 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140599 ms (missed cycles : 3).[0m ×2 + 12.20sINFOros2-19process has finished cleanly [pid 7660] ×2 + 12.31sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.31sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 12.31sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.31sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 + 12.31sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 12.31sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 [0m ×2 + 12.37sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 12.37sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 12.37sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 12.37sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 12.37sINFOplatform_velocity_controllerconfigure successful + 12.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 12.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 12.38sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 12.38sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 12.71sINFOros2-13process has finished cleanly [pid 7654] ×2 + 12.72sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.73sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 + 12.73sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 [0m ×2 + 12.78sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 12.78sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.78sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.78sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.78sINFOforce_torque_sensor_broadcasterconfigure successful + 12.79sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 12.79sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 12.79sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 12.79sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258985 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258985 ms (missed cycles : 2).[0m ×2 + 13.12sINFOros2-10process has finished cleanly [pid 7651] ×2 + 13.14sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 13.14sINFOcontroller_managerLoading controller 'vacuum_gripper' + 13.14sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 13.14sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 13.14sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 + 13.14sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ryitul4f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_me17l0k_ --params-file /tmp/launch_params_1pkmwca3 [0m ×2 + 13.16sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 13.16sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 13.19sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 13.19sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 13.19sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 13.19sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 13.19sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 13.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 13.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 13.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 13.20sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 13.20sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 13.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.55sINFOros2-14process has finished cleanly [pid 7655] ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398053 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398053 ms (missed cycles : 2).[0m ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437440 ms (missed cycles : 3). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437440 ms (missed cycles : 3).[0m ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 17.17sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 18.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.62sINFOobjective_server_nodecaller: ×10 + 18.62sINFOobjective_server_nodetype: 0 ×10 + 18.62sINFOobjective_server_nodename: "" ×10 + 18.62sINFOobjective_server_nodeinstance_id: "" ×10 + 18.62sINFOobjective_server_node ×10 + 18.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.65sINFOmove_groupClearing octomap...[0m ×2 + 18.65sINFOmove_groupOctomap cleared.[0m ×2 + 18.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 19.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 19.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 20.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 21.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 21.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.1s	3 errors · 226 warnings · 277 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.104ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.474ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939930 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939930 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.527ms + 1.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420395 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420395 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.502ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.683ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080380 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080380 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOjoint_trajectory_controllerGot request to cancel goal + 2.77sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.77sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.77sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788460419.02711248 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.130ms + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788460419.61111259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905225 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905225 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030745 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030745 ms (missed cycles : 3).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113917 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113917 ms (missed cycles : 3).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.28sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019118 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019118 ms (missed cycles : 2).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.343ms + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475381 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475381 ms (missed cycles : 2).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.819ms + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.723ms + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442225 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442225 ms (missed cycles : 2).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.632ms + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.340ms + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230096 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230096 ms (missed cycles : 2).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.875ms + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412725 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412725 ms (missed cycles : 3).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.190ms + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.047ms + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534691 ms (missed cycles : 3). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534691 ms (missed cycles : 3).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 4962 particles 723 points - 6.659ms + 13.20sINFOamclParticle filter update iteration stats: 3918 particles 723 points - 5.682ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794070 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794070 ms (missed cycles : 2).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 3284 particles 723 points - 4.256ms + 14.19sINFOamclParticle filter update iteration stats: 2690 particles 723 points - 3.705ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455791 ms (missed cycles : 3). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455791 ms (missed cycles : 3).[0m ×2 + 14.69sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 2.911ms + 15.19sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.221ms + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584089 ms (missed cycles : 4). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584089 ms (missed cycles : 4).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 2.614ms + 16.19sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 1.978ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096341 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096341 ms (missed cycles : 2).[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.606ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199005 ms (missed cycles : 4). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199005 ms (missed cycles : 4).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689091 ms (missed cycles : 3). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689091 ms (missed cycles : 3).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341729 ms (missed cycles : 3). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341729 ms (missed cycles : 3).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484078 ms (missed cycles : 3). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484078 ms (missed cycles : 3).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792249 ms (missed cycles : 2). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792249 ms (missed cycles : 2).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 23.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932943 ms (missed cycles : 3). + 23.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932943 ms (missed cycles : 3).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 24.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863446 ms (missed cycles : 3). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863446 ms (missed cycles : 3).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224441 ms (missed cycles : 3). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224441 ms (missed cycles : 3).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181561 ms (missed cycles : 2). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181561 ms (missed cycles : 2).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 27.19sINFOros2_control_nodeMuJoCo sim: 3.58% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226136 ms (missed cycles : 3). + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226136 ms (missed cycles : 3).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382639 ms (missed cycles : 3). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382639 ms (missed cycles : 3).[0m ×2 + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.228ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509749 ms (missed cycles : 3). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509749 ms (missed cycles : 3).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361086 ms (missed cycles : 4). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361086 ms (missed cycles : 4).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613336 ms (missed cycles : 3). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613336 ms (missed cycles : 3).[0m ×2 + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 33.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698612 ms (missed cycles : 3). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698612 ms (missed cycles : 3).[0m ×2 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306232 ms (missed cycles : 3). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306232 ms (missed cycles : 3).[0m ×2 + 34.65sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.66sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.93sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688782 ms (missed cycles : 2). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688782 ms (missed cycles : 2).[0m ×2 + 35.75sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059680 ms (missed cycles : 3). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059680 ms (missed cycles : 3).[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456964 ms (missed cycles : 3). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456964 ms (missed cycles : 3).[0m ×2 + 38.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 38.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766844 ms (missed cycles : 3). + 38.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766844 ms (missed cycles : 3).[0m ×2 + 38.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 39.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 39.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.200ms + 39.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577562 ms (missed cycles : 4). + 39.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577562 ms (missed cycles : 4).[0m ×2 + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 40.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723987 ms (missed cycles : 3). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723987 ms (missed cycles : 3).[0m ×2 + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853481 ms (missed cycles : 4). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853481 ms (missed cycles : 4).[0m ×2 + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108967 ms (missed cycles : 4). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108967 ms (missed cycles : 4).[0m ×2 + 44.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747847 ms (missed cycles : 2). + 44.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747847 ms (missed cycles : 2).[0m ×2 + 44.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 45.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773004 ms (missed cycles : 2). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773004 ms (missed cycles : 2).[0m ×2 + 46.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890048 ms (missed cycles : 3). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890048 ms (missed cycles : 3).[0m ×2 + 46.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 47.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365092 ms (missed cycles : 2). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365092 ms (missed cycles : 2).[0m ×2 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212393 ms (missed cycles : 2). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212393 ms (missed cycles : 2).[0m ×2 + 49.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 49.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564311 ms (missed cycles : 3). + 49.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564311 ms (missed cycles : 3).[0m ×2 + 50.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 51.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986163 ms (missed cycles : 2). + 51.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986163 ms (missed cycles : 2).[0m ×2 + 51.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 52.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463120 ms (missed cycles : 4). + 52.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463120 ms (missed cycles : 4).[0m ×2 + 52.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 53.12sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 53.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050043 ms (missed cycles : 3). + 53.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050043 ms (missed cycles : 3).[0m ×2 + 54.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935550 ms (missed cycles : 2). + 54.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935550 ms (missed cycles : 2).[0m ×2 + 55.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005024 ms (missed cycles : 4). + 55.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005024 ms (missed cycles : 4).[0m ×2 + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197030 ms (missed cycles : 4). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197030 ms (missed cycles : 4).[0m ×2 + 57.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 57.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278786 ms (missed cycles : 2). + 57.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278786 ms (missed cycles : 2).[0m ×2 + 58.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 58.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020688 ms (missed cycles : 2). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020688 ms (missed cycles : 2).[0m ×2 + 59.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms ×2 + 59.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359341 ms (missed cycles : 3). + 59.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359341 ms (missed cycles : 3).[0m ×2 + 60.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081430 ms (missed cycles : 4). + 60.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081430 ms (missed cycles : 4).[0m ×2 + 60.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 61.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 61.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151213 ms (missed cycles : 4). + 61.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151213 ms (missed cycles : 4).[0m ×2 + 61.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 62.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701189 ms (missed cycles : 3). + 62.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701189 ms (missed cycles : 3).[0m ×2 + 62.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 63.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.181ms + 63.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462995 ms (missed cycles : 4). + 63.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462995 ms (missed cycles : 4).[0m ×2 + 64.67sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 64.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538938 ms (missed cycles : 4). + 64.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538938 ms (missed cycles : 4).[0m ×2 + 65.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486320 ms (missed cycles : 3). + 65.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486320 ms (missed cycles : 3).[0m ×2 + 66.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 67.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154289 ms (missed cycles : 3). + 67.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154289 ms (missed cycles : 3).[0m ×2 + 68.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389307 ms (missed cycles : 3). + 68.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389307 ms (missed cycles : 3).[0m ×2 + 68.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 69.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083584 ms (missed cycles : 3). + 69.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083584 ms (missed cycles : 3).[0m ×2 + 69.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 69.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 70.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087051 ms (missed cycles : 5). + 70.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087051 ms (missed cycles : 5).[0m ×2 + 70.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 71.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212098 ms (missed cycles : 2). + 71.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212098 ms (missed cycles : 2).[0m ×2 + 71.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 72.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890693 ms (missed cycles : 2). + 72.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890693 ms (missed cycles : 2).[0m ×2 + 72.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 73.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047406 ms (missed cycles : 4). + 73.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047406 ms (missed cycles : 4).[0m ×2 + 73.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 74.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 74.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555815 ms (missed cycles : 4). + 74.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555815 ms (missed cycles : 4).[0m ×2 + 75.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688094 ms (missed cycles : 3). + 75.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688094 ms (missed cycles : 3).[0m ×2 + 75.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 75.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788460492.15211344 seconds ×3 + 76.00sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 76.00sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 76.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.359ms + 76.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353820 ms (missed cycles : 3). + 76.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353820 ms (missed cycles : 3).[0m ×2 + 76.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 76.46sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 76.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788460492.73651671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724202 ms (missed cycles : 2). + 77.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724202 ms (missed cycles : 2).[0m ×2 + 78.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489080 ms (missed cycles : 3). + 78.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489080 ms (missed cycles : 3).[0m ×2 + 79.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3). + 79.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	182 warnings · 211 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.81sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788460498.61678553 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788460499.20100617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.27sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.27sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434281 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434281 ms (missed cycles : 2).[0m ×2 + 7.69sINFOros2_control_nodeMuJoCo sim: 4.61% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892552 ms (missed cycles : 3). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892552 ms (missed cycles : 3).[0m ×2 + 7.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.018ms + 8.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.073ms + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361687 ms (missed cycles : 3). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361687 ms (missed cycles : 3).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.673ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.893ms + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.313ms + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.653ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008802 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008802 ms (missed cycles : 2).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.822ms + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.974ms + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092826 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092826 ms (missed cycles : 2).[0m ×2 + 12.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.303ms + 12.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.918ms + 13.19sINFOamclParticle filter update iteration stats: 4497 particles 723 points - 6.842ms + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235726 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235726 ms (missed cycles : 2).[0m ×2 + 13.69sINFOamclParticle filter update iteration stats: 3731 particles 723 points - 6.488ms + 14.19sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 3.797ms + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243740 ms (missed cycles : 4). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243740 ms (missed cycles : 4).[0m ×2 + 14.69sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 2.996ms + 15.19sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 2.417ms + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263349 ms (missed cycles : 2). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263349 ms (missed cycles : 2).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.018ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815770 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815770 ms (missed cycles : 2).[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562722 ms (missed cycles : 3). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562722 ms (missed cycles : 3).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms ×2 + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843377 ms (missed cycles : 3). + 18.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843377 ms (missed cycles : 3).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912798 ms (missed cycles : 4). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912798 ms (missed cycles : 4).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172876 ms (missed cycles : 4). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172876 ms (missed cycles : 4).[0m ×2 + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713152 ms (missed cycles : 3). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713152 ms (missed cycles : 3).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668155 ms (missed cycles : 2). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668155 ms (missed cycles : 2).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms ×2 + 23.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947165 ms (missed cycles : 3). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947165 ms (missed cycles : 3).[0m ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905873 ms (missed cycles : 3). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905873 ms (missed cycles : 3).[0m ×2 + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852258 ms (missed cycles : 2). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852258 ms (missed cycles : 2).[0m ×2 + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 27.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932647 ms (missed cycles : 3). + 27.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932647 ms (missed cycles : 3).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms ×2 + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955555 ms (missed cycles : 3). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955555 ms (missed cycles : 3).[0m ×2 + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192436 ms (missed cycles : 4). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192436 ms (missed cycles : 4).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.177ms + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537871 ms (missed cycles : 2). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537871 ms (missed cycles : 2).[0m ×2 + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215380 ms (missed cycles : 3). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215380 ms (missed cycles : 3).[0m ×2 + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 32.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434856 ms (missed cycles : 2). + 32.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434856 ms (missed cycles : 2).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 33.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 33.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228252 ms (missed cycles : 4). + 33.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228252 ms (missed cycles : 4).[0m ×2 + 34.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641268 ms (missed cycles : 3). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641268 ms (missed cycles : 3).[0m ×2 + 34.69sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410490 ms (missed cycles : 3). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410490 ms (missed cycles : 3).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674833 ms (missed cycles : 4). + 36.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674833 ms (missed cycles : 4).[0m ×2 + 37.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308005 ms (missed cycles : 3). + 37.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308005 ms (missed cycles : 3).[0m ×2 + 38.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485073 ms (missed cycles : 2). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485073 ms (missed cycles : 2).[0m ×2 + 40.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711862 ms (missed cycles : 4). + 40.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711862 ms (missed cycles : 4).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411403 ms (missed cycles : 4). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411403 ms (missed cycles : 4).[0m ×2 + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 42.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940646 ms (missed cycles : 2). + 42.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940646 ms (missed cycles : 2).[0m ×2 + 43.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999650 ms (missed cycles : 3). + 43.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999650 ms (missed cycles : 3).[0m ×2 + 44.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340417 ms (missed cycles : 3). + 44.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340417 ms (missed cycles : 3).[0m ×2 + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811636 ms (missed cycles : 2). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811636 ms (missed cycles : 2).[0m ×2 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167475 ms (missed cycles : 4). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167475 ms (missed cycles : 4).[0m ×2 + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790241 ms (missed cycles : 3). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790241 ms (missed cycles : 3).[0m ×2 + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355707 ms (missed cycles : 2). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355707 ms (missed cycles : 2).[0m ×2 + 49.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372457 ms (missed cycles : 3). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372457 ms (missed cycles : 3).[0m ×2 + 50.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032002 ms (missed cycles : 3). + 50.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032002 ms (missed cycles : 3).[0m ×2 + 51.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 52.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403448 ms (missed cycles : 2). + 52.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403448 ms (missed cycles : 2).[0m ×2 + 53.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937592 ms (missed cycles : 3). + 53.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937592 ms (missed cycles : 3).[0m ×2 + 54.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462375 ms (missed cycles : 3). + 54.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462375 ms (missed cycles : 3).[0m ×2 + 55.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062600 ms (missed cycles : 2). + 55.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062600 ms (missed cycles : 2).[0m ×2 + 55.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.209ms + 56.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543877 ms (missed cycles : 3). + 56.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543877 ms (missed cycles : 3).[0m ×2 + 57.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489933 ms (missed cycles : 5). + 57.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489933 ms (missed cycles : 5).[0m ×2 + 58.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474956 ms (missed cycles : 3). + 58.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474956 ms (missed cycles : 3).[0m ×2 + 59.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 59.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399049 ms (missed cycles : 3). + 59.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399049 ms (missed cycles : 3).[0m ×2 + 60.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788460556.05113506 seconds ×3 + 60.40sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.40sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.507ms + 60.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645377 ms (missed cycles : 3). + 60.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645377 ms (missed cycles : 3).[0m ×2 + 60.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.85sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788460556.64223218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.27sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 61.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111236 ms (missed cycles : 2). + 61.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111236 ms (missed cycles : 2).[0m ×2 + 62.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357288 ms (missed cycles : 3). + 62.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357288 ms (missed cycles : 3).[0m ×2 + 63.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686380 ms (missed cycles : 3). + 63.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686380 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	181 warnings · 220 info
+ 0.00sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.420ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021171 ms (missed cycles : 5). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021171 ms (missed cycles : 5).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254628 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254628 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788460256.48001862 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 2.285ms + 3.40sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 3.132ms + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788460257.06534410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505806 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505806 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782015 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782015 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306264 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306264 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.35sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.35sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299771 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299771 ms (missed cycles : 3).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 1703 particles 723 points - 2.082ms + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757174 ms (missed cycles : 3). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757174 ms (missed cycles : 3).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.673ms + 9.20sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.418ms + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664490 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664490 ms (missed cycles : 3).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 10.09sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824054 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824054 ms (missed cycles : 3).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207494 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207494 ms (missed cycles : 2).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332251 ms (missed cycles : 4). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332251 ms (missed cycles : 4).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms ×4 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963882 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963882 ms (missed cycles : 3).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914575 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914575 ms (missed cycles : 2).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646687 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646687 ms (missed cycles : 2).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms ×2 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344683 ms (missed cycles : 2). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344683 ms (missed cycles : 2).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045940 ms (missed cycles : 3). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045940 ms (missed cycles : 3).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486273 ms (missed cycles : 2). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486273 ms (missed cycles : 2).[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932954 ms (missed cycles : 3). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932954 ms (missed cycles : 3).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062549 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062549 ms (missed cycles : 2).[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242358 ms (missed cycles : 3). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242358 ms (missed cycles : 3).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013352 ms (missed cycles : 4). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013352 ms (missed cycles : 4).[0m ×2 + 24.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148694 ms (missed cycles : 3). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148694 ms (missed cycles : 3).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740289 ms (missed cycles : 3). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740289 ms (missed cycles : 3).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 27.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687674 ms (missed cycles : 3). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687674 ms (missed cycles : 3).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142573 ms (missed cycles : 2). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142573 ms (missed cycles : 2).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770960 ms (missed cycles : 3). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770960 ms (missed cycles : 3).[0m ×2 + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms ×2 + 30.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054629 ms (missed cycles : 4). + 30.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054629 ms (missed cycles : 4).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 31.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147160 ms (missed cycles : 3). + 31.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147160 ms (missed cycles : 3).[0m ×2 + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282430 ms (missed cycles : 3). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282430 ms (missed cycles : 3).[0m ×2 + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 33.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291890 ms (missed cycles : 2). + 33.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291890 ms (missed cycles : 2).[0m ×2 + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724831 ms (missed cycles : 2). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724831 ms (missed cycles : 2).[0m ×2 + 34.77sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856804 ms (missed cycles : 3). + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856804 ms (missed cycles : 3).[0m ×2 + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197197 ms (missed cycles : 3). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197197 ms (missed cycles : 3).[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915849 ms (missed cycles : 3). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915849 ms (missed cycles : 3).[0m ×2 + 38.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms ×2 + 38.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067350 ms (missed cycles : 4). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067350 ms (missed cycles : 4).[0m ×2 + 39.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476057 ms (missed cycles : 2). + 39.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476057 ms (missed cycles : 2).[0m ×2 + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586233 ms (missed cycles : 4). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586233 ms (missed cycles : 4).[0m ×2 + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 42.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842473 ms (missed cycles : 2). + 42.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842473 ms (missed cycles : 2).[0m ×2 + 43.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504482 ms (missed cycles : 4). + 43.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504482 ms (missed cycles : 4).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845903 ms (missed cycles : 3). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845903 ms (missed cycles : 3).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215061 ms (missed cycles : 3). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215061 ms (missed cycles : 3).[0m ×2 + 46.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709961 ms (missed cycles : 3). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709961 ms (missed cycles : 3).[0m ×2 + 47.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609421 ms (missed cycles : 3). + 47.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609421 ms (missed cycles : 3).[0m ×2 + 48.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013525 ms (missed cycles : 2). + 48.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013525 ms (missed cycles : 2).[0m ×2 + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133683 ms (missed cycles : 4). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133683 ms (missed cycles : 4).[0m ×2 + 50.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997184 ms (missed cycles : 4). + 50.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997184 ms (missed cycles : 4).[0m ×2 + 51.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266339 ms (missed cycles : 4). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266339 ms (missed cycles : 4).[0m ×2 + 52.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063919 ms (missed cycles : 2). + 52.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063919 ms (missed cycles : 2).[0m ×2 + 53.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646465 ms (missed cycles : 4). + 53.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646465 ms (missed cycles : 4).[0m ×2 + 54.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491405 ms (missed cycles : 4). + 54.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491405 ms (missed cycles : 4).[0m ×2 + 55.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 55.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869921 ms (missed cycles : 2). + 55.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869921 ms (missed cycles : 2).[0m ×2 + 57.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695038 ms (missed cycles : 4). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695038 ms (missed cycles : 4).[0m ×2 + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2). + 58.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2).[0m ×2 + 59.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2). + 59.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2).[0m ×2 + 59.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 60.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2). + 60.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2).[0m ×2 + 60.36sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460313.69548702 seconds ×3 + 60.41sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.41sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.975ms + 60.51sWARNlocal_costmap.local_costmapSensor origin at (-1.28, 6.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.51sWARNlocal_costmap.local_costmapSensor origin at (-2.17, 6.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.155ms + 60.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.91sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460314.28211594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.33sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 61.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3). + 61.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3).[0m ×2 + 61.65sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2). + 62.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2).[0m ×2 + 63.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3). + 63.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.1s	188 warnings · 233 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058731 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058731 ms (missed cycles : 2).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802931 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802931 ms (missed cycles : 4).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037661 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037661 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.97sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788460352.94197917 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.848ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118532 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118532 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788460353.52470064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980800 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980800 ms (missed cycles : 3).[0m ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.73, -4.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (2.03, -3.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.31sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.31sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707777 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707777 ms (missed cycles : 2).[0m ×2 + 6.83sWARNglobal_costmap.global_costmapSensor origin at (1.75, -4.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.83sWARNglobal_costmap.global_costmapSensor origin at (2.05, -3.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392826 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392826 ms (missed cycles : 3).[0m ×2 + 7.83sWARNglobal_costmap.global_costmapSensor origin at (1.94, -4.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.83sWARNglobal_costmap.global_costmapSensor origin at (2.24, -3.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.056ms + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364534 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364534 ms (missed cycles : 3).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.304ms + 8.83sWARNglobal_costmap.global_costmapSensor origin at (2.34, -4.29) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.83sWARNglobal_costmap.global_costmapSensor origin at (2.64, -3.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.684ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641976 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641976 ms (missed cycles : 3).[0m ×2 + 9.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.683ms + 10.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.701ms + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.836ms + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679646 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679646 ms (missed cycles : 2).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.130ms + 11.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.645ms + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277358 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277358 ms (missed cycles : 3).[0m ×2 + 12.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.034ms + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.931ms + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595632 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595632 ms (missed cycles : 3).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.366ms + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.523ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647091 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647091 ms (missed cycles : 3).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.536ms + 14.71sINFOamclParticle filter update iteration stats: 4384 particles 723 points - 6.869ms + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424470 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424470 ms (missed cycles : 2).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 5.211ms + 15.70sINFOamclParticle filter update iteration stats: 3596 particles 723 points - 4.783ms + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698648 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698648 ms (missed cycles : 3).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 3066 particles 723 points - 4.289ms + 16.70sINFOamclParticle filter update iteration stats: 2627 particles 723 points - 3.309ms + 17.19sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 3.149ms + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484334 ms (missed cycles : 4). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484334 ms (missed cycles : 4).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 2.301ms + 18.19sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 2.612ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106563 ms (missed cycles : 3). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106563 ms (missed cycles : 3).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.445ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791952 ms (missed cycles : 3). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791952 ms (missed cycles : 3).[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.178ms + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340783 ms (missed cycles : 3). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340783 ms (missed cycles : 3).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697312 ms (missed cycles : 3). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697312 ms (missed cycles : 3).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299202 ms (missed cycles : 3). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299202 ms (missed cycles : 3).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.015776 ms (missed cycles : 5). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.015776 ms (missed cycles : 5).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023738 ms (missed cycles : 4). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023738 ms (missed cycles : 4).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057340 ms (missed cycles : 3). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057340 ms (missed cycles : 3).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826919 ms (missed cycles : 2). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826919 ms (missed cycles : 2).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms ×2 + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731401 ms (missed cycles : 3). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731401 ms (missed cycles : 3).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094636 ms (missed cycles : 4). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094636 ms (missed cycles : 4).[0m ×2 + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 30.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798811 ms (missed cycles : 2). + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798811 ms (missed cycles : 2).[0m ×2 + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293026 ms (missed cycles : 4). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293026 ms (missed cycles : 4).[0m ×2 + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 32.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698174 ms (missed cycles : 3). + 32.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698174 ms (missed cycles : 3).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 33.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193798 ms (missed cycles : 2). + 33.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193798 ms (missed cycles : 2).[0m ×2 + 33.50sINFOros2_control_nodeMuJoCo sim: 3.17% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076764 ms (missed cycles : 5). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076764 ms (missed cycles : 5).[0m ×2 + 35.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719466 ms (missed cycles : 3). + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719466 ms (missed cycles : 3).[0m ×2 + 36.39sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505188 ms (missed cycles : 4). + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505188 ms (missed cycles : 4).[0m ×2 + 37.16sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802151 ms (missed cycles : 5). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802151 ms (missed cycles : 5).[0m ×2 + 38.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085274 ms (missed cycles : 2). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085274 ms (missed cycles : 2).[0m ×2 + 39.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924979 ms (missed cycles : 3). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924979 ms (missed cycles : 3).[0m ×2 + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 40.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 40.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219519 ms (missed cycles : 3). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219519 ms (missed cycles : 3).[0m ×2 + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 41.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623952 ms (missed cycles : 3). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623952 ms (missed cycles : 3).[0m ×2 + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372191 ms (missed cycles : 4). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372191 ms (missed cycles : 4).[0m ×2 + 44.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666753 ms (missed cycles : 2). + 44.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666753 ms (missed cycles : 2).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687485 ms (missed cycles : 2). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687485 ms (missed cycles : 2).[0m ×2 + 45.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 46.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806275 ms (missed cycles : 5). + 46.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806275 ms (missed cycles : 5).[0m ×2 + 46.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 47.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971629 ms (missed cycles : 3). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971629 ms (missed cycles : 3).[0m ×2 + 48.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 48.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205852 ms (missed cycles : 3). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205852 ms (missed cycles : 3).[0m ×2 + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987121 ms (missed cycles : 2). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987121 ms (missed cycles : 2).[0m ×2 + 50.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 50.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525750 ms (missed cycles : 3). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525750 ms (missed cycles : 3).[0m ×2 + 51.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213190 ms (missed cycles : 3). + 51.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213190 ms (missed cycles : 3).[0m ×2 + 52.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 52.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504952 ms (missed cycles : 2). + 52.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504952 ms (missed cycles : 2).[0m ×2 + 53.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 53.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668559 ms (missed cycles : 4). + 53.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668559 ms (missed cycles : 4).[0m ×2 + 54.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 54.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101471 ms (missed cycles : 2). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101471 ms (missed cycles : 2).[0m ×2 + 55.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 56.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244216 ms (missed cycles : 3). + 56.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244216 ms (missed cycles : 3).[0m ×2 + 56.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 57.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093102 ms (missed cycles : 2). + 57.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093102 ms (missed cycles : 2).[0m ×2 + 57.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 58.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788460408.04484105 seconds ×3 + 58.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564389 ms (missed cycles : 4). + 58.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564389 ms (missed cycles : 4).[0m ×2 + 58.21sWARNlocal_costmap.local_costmapSensor origin at (-1.92, 10.76) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.21sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.917ms + 58.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 58.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 58.69sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788460408.62306166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.11sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 59.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032539 ms (missed cycles : 2). + 59.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032539 ms (missed cycles : 2).[0m ×2 + 60.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017115 ms (missed cycles : 2). + 60.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017115 ms (missed cycles : 2).[0m ×2 + 61.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671410 ms (missed cycles : 2). + 61.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671410 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	141 warnings · 381 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.61sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.61sINFOobjective_server_nodecaller: ×12 + 0.61sINFOobjective_server_nodetype: 0 ×12 + 0.61sINFOobjective_server_nodename: "" ×12 + 0.61sINFOobjective_server_nodeinstance_id: "" ×12 + 0.61sINFOobjective_server_node ×12 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.64sINFOmove_groupClearing octomap...[0m ×2 + 0.64sINFOmove_groupOctomap cleared.[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673097 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673097 ms (missed cycles : 3).[0m ×2 + 6.98sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.032ms + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399982 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399982 ms (missed cycles : 3).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559277 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559277 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441493 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441493 ms (missed cycles : 3).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703591 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703591 ms (missed cycles : 3).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417865 ms (missed cycles : 3). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417865 ms (missed cycles : 3).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155844 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155844 ms (missed cycles : 3).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523095 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523095 ms (missed cycles : 3).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292926 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292926 ms (missed cycles : 2).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500345 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500345 ms (missed cycles : 3).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509885 ms (missed cycles : 3). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509885 ms (missed cycles : 3).[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262174 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262174 ms (missed cycles : 2).[0m ×2 + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837299 ms (missed cycles : 4). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837299 ms (missed cycles : 4).[0m ×2 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696043 ms (missed cycles : 3). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696043 ms (missed cycles : 3).[0m ×2 + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248219 ms (missed cycles : 2). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248219 ms (missed cycles : 2).[0m ×2 + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470300 ms (missed cycles : 2). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470300 ms (missed cycles : 2).[0m ×2 + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112963 ms (missed cycles : 2). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112963 ms (missed cycles : 2).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898612 ms (missed cycles : 3). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898612 ms (missed cycles : 3).[0m ×2 + 25.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135946 ms (missed cycles : 2). + 25.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135946 ms (missed cycles : 2).[0m ×2 + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968283 ms (missed cycles : 2). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968283 ms (missed cycles : 2).[0m ×2 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749482 ms (missed cycles : 2). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749482 ms (missed cycles : 2).[0m ×2 + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424896 ms (missed cycles : 3). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424896 ms (missed cycles : 3).[0m ×2 + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087775 ms (missed cycles : 3). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087775 ms (missed cycles : 3).[0m ×2 + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588917 ms (missed cycles : 2). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588917 ms (missed cycles : 2).[0m ×2 + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160801 ms (missed cycles : 3). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160801 ms (missed cycles : 3).[0m ×2 + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376216 ms (missed cycles : 2). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376216 ms (missed cycles : 2).[0m ×2 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505998 ms (missed cycles : 3). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505998 ms (missed cycles : 3).[0m ×2 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949246 ms (missed cycles : 2). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949246 ms (missed cycles : 2).[0m ×2 + 36.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668988 ms (missed cycles : 3). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668988 ms (missed cycles : 3).[0m ×2 + 36.97sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 2.009ms + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708294 ms (missed cycles : 3). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708294 ms (missed cycles : 3).[0m ×2 + 38.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771913 ms (missed cycles : 3). + 38.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771913 ms (missed cycles : 3).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908808 ms (missed cycles : 2). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908808 ms (missed cycles : 2).[0m ×2 + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224807 ms (missed cycles : 2). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224807 ms (missed cycles : 2).[0m ×2 + 41.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487274 ms (missed cycles : 2). + 41.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487274 ms (missed cycles : 2).[0m ×2 + 42.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745035 ms (missed cycles : 3). + 42.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745035 ms (missed cycles : 3).[0m ×2 + 43.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776536 ms (missed cycles : 3). + 43.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776536 ms (missed cycles : 3).[0m ×2 + 45.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750762 ms (missed cycles : 2). + 45.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750762 ms (missed cycles : 2).[0m ×2 + 46.11sINFOjoint_trajectory_controllerGoal reached, success! + 46.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788460250.38378978 seconds ×3 + 46.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414985 ms (missed cycles : 2). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414985 ms (missed cycles : 2).[0m ×2 + 46.37sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.894ms + 46.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.66sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.70sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788460250.95989490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338507 ms (missed cycles : 3). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338507 ms (missed cycles : 3).[0m ×2 + 47.78sINFOobjective_server_nodeFound path in 0 iterations (2.4889e-05 s). ×2 + 47.84sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 47.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616787 ms (missed cycles : 3). + 48.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616787 ms (missed cycles : 3).[0m ×2 + 49.07sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.420ms + 49.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 49.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3). + 49.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.9s	117 warnings · 192 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854722 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854722 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970671 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970671 ms (missed cycles : 2).[0m ×2 + 1.99sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.99sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.04sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788460320.07232237 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033404 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033404 ms (missed cycles : 4).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300185 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300185 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788460321.65715194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796060 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796060 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779680 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779680 ms (missed cycles : 3).[0m ×2 + 5.40sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780694 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780694 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220131 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220131 ms (missed cycles : 3).[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.363ms + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312569 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312569 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.126ms + 9.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.770ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231045 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231045 ms (missed cycles : 2).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.817ms + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400868 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400868 ms (missed cycles : 3).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.459ms + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233496 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233496 ms (missed cycles : 2).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.727ms + 12.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.317ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862374 ms (missed cycles : 3). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862374 ms (missed cycles : 3).[0m ×2 + 12.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.401ms + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.498ms + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485728 ms (missed cycles : 3). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485728 ms (missed cycles : 3).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.956ms + 14.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.833ms + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043757 ms (missed cycles : 4). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043757 ms (missed cycles : 4).[0m ×2 + 14.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.283ms + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.643ms + 15.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.180ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905921 ms (missed cycles : 3). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905921 ms (missed cycles : 3).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.397ms + 16.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.042ms + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137198 ms (missed cycles : 3). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137198 ms (missed cycles : 3).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 4322 particles 723 points - 6.376ms + 17.90sINFOamclParticle filter update iteration stats: 3440 particles 723 points - 5.587ms + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327826 ms (missed cycles : 2). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327826 ms (missed cycles : 2).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 2784 particles 723 points - 4.219ms + 18.90sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.883ms + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965840 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965840 ms (missed cycles : 2).[0m ×2 + 19.40sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 2.129ms + 19.90sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.576ms + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401398 ms (missed cycles : 3). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401398 ms (missed cycles : 3).[0m ×2 + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075917 ms (missed cycles : 3). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075917 ms (missed cycles : 3).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918701 ms (missed cycles : 3). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918701 ms (missed cycles : 3).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262801 ms (missed cycles : 3). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262801 ms (missed cycles : 3).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734958 ms (missed cycles : 3). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734958 ms (missed cycles : 3).[0m ×2 + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991347 ms (missed cycles : 3). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991347 ms (missed cycles : 3).[0m ×2 + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546627 ms (missed cycles : 3). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546627 ms (missed cycles : 3).[0m ×2 + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163423 ms (missed cycles : 3). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163423 ms (missed cycles : 3).[0m ×2 + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385938 ms (missed cycles : 3). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385938 ms (missed cycles : 3).[0m ×2 + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100579 ms (missed cycles : 2). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100579 ms (missed cycles : 2).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528639 ms (missed cycles : 3). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528639 ms (missed cycles : 3).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058731 ms (missed cycles : 2). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058731 ms (missed cycles : 2).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802931 ms (missed cycles : 4). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802931 ms (missed cycles : 4).[0m ×2 + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 34.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037661 ms (missed cycles : 2). + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037661 ms (missed cycles : 2).[0m ×2 + 34.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788460352.94197917 seconds ×3 + 35.01sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.01sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.848ms + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118532 ms (missed cycles : 2). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118532 ms (missed cycles : 2).[0m ×2 + 35.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788460353.52470064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.89sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980800 ms (missed cycles : 3). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980800 ms (missed cycles : 3).[0m ×2 + 36.73sWARNglobal_costmap.global_costmapSensor origin at (1.73, -4.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 36.73sWARNglobal_costmap.global_costmapSensor origin at (2.03, -3.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3).[0m ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707777 ms (missed cycles : 2). + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707777 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.4s	68 warnings · 242 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489933 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489933 ms (missed cycles : 5).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474956 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474956 ms (missed cycles : 3).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399049 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399049 ms (missed cycles : 3).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.93sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788460556.05113506 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.507ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645377 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645377 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.49sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.49sINFOobjective_server_nodecaller: ×6 + 3.49sINFOobjective_server_nodetype: 0 ×6 + 3.49sINFOobjective_server_nodename: "" ×6 + 3.49sINFOobjective_server_nodeinstance_id: "" ×6 + 3.49sINFOobjective_server_node ×6 + 3.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788460556.64223218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.27sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111236 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111236 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357288 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357288 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686380 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686380 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846664 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846664 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284415 ms (missed cycles : 4). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284415 ms (missed cycles : 4).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339680 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339680 ms (missed cycles : 3).[0m ×2 + 9.93sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 10.09sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.14sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 10.28sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.34sINFOros2_control_nodeMuJoCo sim: 4.93% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 10.34sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328230 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328230 ms (missed cycles : 3).[0m ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 11.08sINFOobjective_server_nodeFound path in 33 iterations (0.0335717 s). ×2 + 11.56sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.62sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593360 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593360 ms (missed cycles : 2).[0m ×2 + 12.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.35sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 13.04sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.33sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676774 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676774 ms (missed cycles : 2).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920771 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920771 ms (missed cycles : 3).[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.427ms + 15.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.779ms + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605758 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605758 ms (missed cycles : 3).[0m ×2 + 16.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 16.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.738ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885904 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885904 ms (missed cycles : 3).[0m ×2 + 17.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.612ms + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728297 ms (missed cycles : 2). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728297 ms (missed cycles : 2).[0m ×2 + 18.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787233 ms (missed cycles : 2). + 19.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787233 ms (missed cycles : 2).[0m ×2 + 19.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788460572.42231798 seconds ×3 + 19.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.237ms + 19.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.86sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788460573.04037285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.94sINFOmove_groupClearing octomap...[0m ×2 + 19.94sINFOmove_groupOctomap cleared.[0m ×2 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908614 ms (missed cycles : 3). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908614 ms (missed cycles : 3).[0m ×2 + 20.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788460573.50050426 seconds ×3 + 20.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.94sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788460574.07680511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164677 ms (missed cycles : 3). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164677 ms (missed cycles : 3).[0m ×2 + 21.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788460574.80692959 seconds ×3 + 21.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307745 ms (missed cycles : 2). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307745 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.4s	95 errors · 30 warnings · 467 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.612ms + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728297 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728297 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787233 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787233 ms (missed cycles : 2).[0m ×2 + 1.87sINFOjoint_trajectory_controllerGoal reached, success! + 1.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.88sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788460572.42231798 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.237ms + 2.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788460573.04037285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908614 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908614 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788460573.50050426 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788460574.07680511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164677 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164677 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788460574.80692959 seconds ×3 + 4.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307745 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307745 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831313 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831313 ms (missed cycles : 2).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482074 ms (missed cycles : 3). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482074 ms (missed cycles : 3).[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871103 ms (missed cycles : 3). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871103 ms (missed cycles : 3).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292631 ms (missed cycles : 3). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292631 ms (missed cycles : 3).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513439 ms (missed cycles : 2). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513439 ms (missed cycles : 2).[0m ×2 + 10.40sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.43sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORweb_video_auth_proxy-35process has died [pid 7718, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.43sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 10.44sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORweb_bridge_auth_proxy-34process has died [pid 7715, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.44sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 10.45sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 10.46sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 10.47sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 10.48sINFOvideo_server-33process has finished cleanly [pid 7714] ×2 + 10.48sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 10.49sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 10.50sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.51sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 10.52sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 10.53sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 10.54sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 10.55sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 10.56sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 10.57sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 10.58sINFOcontroller_managerShutdown request received.... + 10.58sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.58sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.58sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.58sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.58sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.58sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.58sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.58sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.58sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.58sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.58sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.58sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.58sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.58sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.58sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.58sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.58sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.58sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.58sINFOcontroller_managerShutting down the controller manager. + 10.58sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.59sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 10.60sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.60sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.61sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.61sERRORmove_group-21process has died [pid 7662, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_ogdh26z3 --params-file /tmp/launch_params_x1ci7s7e --params-file /tmp/launch_params_ovdeysbq --params-file /tmp/launch_params_bgp73kur --params-file /tmp/launch_params_zlxz1d3x --params-file /tmp/launch_params_z6zr_ux2']. ×2 + 10.62sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.63sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.64sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.64sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.64sINFOmap_serverDeactivating + 10.64sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.65sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.65sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.65sINFOcontroller_serverDeactivating + 10.65sINFOlocal_costmap.local_costmapDeactivating + 10.65sINFOvideo_server2026/09/03 18:36:20 INF shutting down gracefully ×2 + 10.65sINFOvideo_server2026/09/03 18:36:20 INF [WebRTC] closing ×2 + 10.65sINFOvideo_server2026/09/03 18:36:20 INF [RTSP] closing ×2 + 10.65sINFOvideo_server2026/09/03 18:36:20 INF waiting for running hooks ×2 + 10.65sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOmap_serverCleaning up + 10.65sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.65sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.65sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.65sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.65sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.65sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.65sERRORmove_groupStack trace (most recent call last) in thread 8308: ×2 + 10.65sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.65sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56a1866a63, in __clone ×2 + 10.65sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56a17d9aa3, in ×2 + 10.65sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f56a1a6bdb3, in ×2 + 10.65sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f56a21d09e7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.65sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f56a1dfd620, in rclcpp::Rate::sleep() ×2 + 10.65sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f56a1d3fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.65sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f56a1d01087, in ×2 + 10.65sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f56a1a3a390, in __cxa_throw ×2 + 10.65sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f56a1a24a54, in std::terminate() ×2 + 10.65sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f56a1a3a0d9, in ×2 + 10.65sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f56a1a24ff4, in ×2 + 10.65sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56a17658fe, in abort ×2 + 10.65sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56a178227d, in raise ×2 + 10.65sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56a17dbb2c, in pthread_kill ×2 + 10.65sERRORmove_groupAborted (Signal sent by tkill() 7662 0) ×2 + 10.65sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.65sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.66sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.66sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.66sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.66sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.66sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.66sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.66sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.66sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.66sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.66sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.66sINFOodom_qos_relay.pymain() ×2 + 10.66sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.66sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.66sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.66sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.66sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.66sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.66sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.66sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.66sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.66sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.66sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.67sERRORamclThe bond connection to the lifecycle manager has been broken + 10.70sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.71sINFOcontroller_serverCleaning up + 10.71sINFOlocal_costmap.local_costmapCleaning up + 10.76sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.76sINFOsmoother_serverDeactivating + 10.76sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.77sINFOsmoother_serverCleaning up + 10.77sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788460581.010 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.78sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.78sINFOplanner_serverDeactivating + 10.78sINFOglobal_costmap.global_costmapDeactivating + 10.79sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.79sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.80sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.87sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.87sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.87sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.87sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.87sINFOvelocity_smootherDeactivating + 10.87sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.98sERRORcomponent_container_isolated-2process has died [pid 7564, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_t5zf6byh --params-file /tmp/launch_params_86am2i8c -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.98sINFOwaypoint_followerDeactivating + 10.98sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.10sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.10sINFObt_navigatorDeactivating + 11.10sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.21sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.21sINFObehavior_serverDeactivating + 11.21sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.23sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.23sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.24sINFOplanner_serverCleaning up + 11.25sINFOglobal_costmap.global_costmapCleaning up + 11.26sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.26sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.30sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.30sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.30sINFObt_navigatorCleaning up + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.32sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.32sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.32sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.32sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.33sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.33sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.33sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.33sINFOvelocity_smootherCleaning up + 11.33sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.33sINFOwaypoint_followerCleaning up + 11.36sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.37sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.39sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.39sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.39sINFObehavior_serverCleaning up + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.45sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.45sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.45sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.45sINFObt_navigatorCompleted Cleaning up + 11.45sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.45sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.45sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.52sINFOtf2_web_republisher_node-32process has finished cleanly [pid 7713] ×2 + 11.52sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.58sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 7701] ×2 + 11.60sINFOmove_joint_resampler_node-24process has finished cleanly [pid 7700] ×2 + 11.60sINFOui_teleop_bridge-30process has finished cleanly [pid 7707] ×2 + 11.60sINFOexecute_objective_bridge-29process has finished cleanly [pid 7706] ×2 + 11.60sINFOcomponent_container_mt-28process has finished cleanly [pid 7705] ×2 + 11.63sINFOparameter_manager_node-22process has finished cleanly [pid 7663] ×2 + 11.64sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7570] ×2 + 11.64sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 7569] ×2 + 11.65sINFOwaypoint_manager_node-23process has finished cleanly [pid 7664] ×2 + 11.67sINFOstatic_transform_publisher-4process has finished cleanly [pid 7566] ×2 + 11.67sINFOstatic_transform_publisher-3process has finished cleanly [pid 7565] ×2 + 11.69sINFOobjective_server_node[2026-09-03 18:36:22.228] [moveit_pro_license] [critical] ×2 + 11.69sINFOobjective_server_node************************************************* ×4 + 11.69sINFOobjective_server_node* MoveIt Pro License ×2 + 11.69sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.72sERRORodom_qos_relay.py-5process has died [pid 7567, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.72sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7568] ×2 + 11.73sINFOcomponent_container_mt-27process has finished cleanly [pid 7704] ×2 + 11.75sERRORcomponent_container_isolated-1process has died [pid 7563, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_t5zf6byh --params-file /tmp/launch_params_uincxna6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.76sINFOobjective_server_node_main-26process has finished cleanly [pid 7702] ×2 + 11.76sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.21sINFOweb_bridge-31process has finished cleanly [pid 7712] ×2 + 13.21sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 13.31sINFOros2_control_node-9process has finished cleanly [pid 7571] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 55 warnings · 158 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101471 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101471 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244216 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244216 ms (missed cycles : 3).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093102 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093102 ms (missed cycles : 2).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788460408.04484105 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564389 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564389 ms (missed cycles : 4).[0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-1.92, 10.76) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.917ms + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788460408.62306166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032539 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032539 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017115 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017115 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671410 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671410 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158727 ms (missed cycles : 3). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158727 ms (missed cycles : 3).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.666ms + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827877 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827877 ms (missed cycles : 3).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.179ms + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.927ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744435 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744435 ms (missed cycles : 3).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.870ms + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.395ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095982 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095982 ms (missed cycles : 3).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.824ms + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.104ms + 11.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.474ms + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939930 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939930 ms (missed cycles : 3).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.527ms + 12.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420395 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420395 ms (missed cycles : 3).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.502ms + 13.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.683ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080380 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080380 ms (missed cycles : 3).[0m ×2 + 14.17sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOjoint_trajectory_controllerGot request to cancel goal + 14.18sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.18sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788460419.02711248 seconds ×3 + 14.31sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.31sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.130ms + 14.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.73sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788460419.61111259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905225 ms (missed cycles : 2). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905225 ms (missed cycles : 2).[0m ×2 + 15.21sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030745 ms (missed cycles : 3). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030745 ms (missed cycles : 3).[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113917 ms (missed cycles : 3). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113917 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	43 warnings · 143 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.23sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460313.69548702 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.975ms + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-1.28, 6.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-2.17, 6.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.155ms + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.81sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460314.28211594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854722 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854722 ms (missed cycles : 3).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970671 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970671 ms (missed cycles : 2).[0m ×2 + 8.64sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788460320.07232237 seconds ×3 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033404 ms (missed cycles : 4). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033404 ms (missed cycles : 4).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300185 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300185 ms (missed cycles : 2).[0m ×2 + 10.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.19sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.23sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788460321.65715194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.65sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796060 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796060 ms (missed cycles : 2).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779680 ms (missed cycles : 3). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779680 ms (missed cycles : 3).[0m ×2 + 12.00sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780694 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780694 ms (missed cycles : 2).[0m ×2 + 13.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	38 warnings · 139 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047406 ms (missed cycles : 4). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047406 ms (missed cycles : 4).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555815 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555815 ms (missed cycles : 4).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688094 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688094 ms (missed cycles : 3).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.03sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788460492.15211344 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.359ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353820 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353820 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788460492.73651671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724202 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724202 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489080 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489080 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3).[0m ×2 + 9.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788460498.61678553 seconds ×3 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3).[0m ×2 + 10.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788460499.20100617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.49sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4).[0m ×2 + 12.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	36 warnings · 148 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745035 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745035 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776536 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776536 ms (missed cycles : 3).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750762 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750762 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.23sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788460250.38378978 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414985 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414985 ms (missed cycles : 2).[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.894ms + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.78sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.78sINFOobjective_server_nodecaller: ×4 + 3.78sINFOobjective_server_nodetype: 0 ×4 + 3.78sINFOobjective_server_nodename: "" ×4 + 3.78sINFOobjective_server_nodeinstance_id: "" ×4 + 3.78sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788460250.95989490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338507 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338507 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.4889e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616787 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616787 ms (missed cycles : 3).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.420ms + 6.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3).[0m ×2 + 7.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 7.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 7.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021171 ms (missed cycles : 5). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021171 ms (missed cycles : 5).[0m ×2 + 8.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254628 ms (missed cycles : 2). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254628 ms (missed cycles : 2).[0m ×2 + 9.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 9.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788460256.48001862 seconds ×3 + 9.49sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 2.285ms + 9.59sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 3.132ms + 9.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.89sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.92sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788460257.06534410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505806 ms (missed cycles : 3). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505806 ms (missed cycles : 3).[0m ×2 + 10.35sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782015 ms (missed cycles : 3). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782015 ms (missed cycles : 3).[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306264 ms (missed cycles : 2). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306264 ms (missed cycles : 2).[0m ×2 + 12.49sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	21 warnings · 117 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.738ms + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885904 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885904 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.612ms + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728297 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728297 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787233 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787233 ms (missed cycles : 2).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788460572.42231798 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.237ms + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788460573.04037285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908614 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908614 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788460573.50050426 seconds ×3 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788460574.07680511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164677 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164677 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788460574.80692959 seconds ×3 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307745 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307745 ms (missed cycles : 2).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831313 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831313 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460313.69548702 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.975ms + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-1.28, 6.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-2.17, 6.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.155ms + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.85sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460314.28211594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal + 3.58sINFOjoint_trajectory_controllerAccepted new action goal + 3.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788460498.61678553 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788460499.20100617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.64sINFOmove_groupClearing octomap...[0m ×2 + 0.64sINFOmove_groupOctomap cleared.[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745035 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745035 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776536 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776536 ms (missed cycles : 3).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750762 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750762 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788460250.38378978 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414985 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414985 ms (missed cycles : 2).[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.894ms + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788460250.95989490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338507 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338507 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.4889e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616787 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616787 ms (missed cycles : 3).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.420ms + 6.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745035 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745035 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776536 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776536 ms (missed cycles : 3).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750762 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750762 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788460250.38378978 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414985 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414985 ms (missed cycles : 2).[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.894ms + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788460250.95989490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338507 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338507 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.4889e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616787 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616787 ms (missed cycles : 3).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.420ms + 6.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.23sINFOmove_groupClearing octomap...[0m ×2 + 2.23sINFOmove_groupOctomap cleared.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 78 info
+ 0.00sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.420ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850680 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021171 ms (missed cycles : 5). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021171 ms (missed cycles : 5).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254628 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254628 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788460256.48001862 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 2.285ms + 3.40sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 3.132ms + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788460257.06534410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505806 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505806 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782015 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782015 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306264 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306264 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal + 6.35sINFOjoint_trajectory_controllerAccepted new action goal + 6.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460313.69548702 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.975ms + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-1.28, 6.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-2.17, 6.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.155ms + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.85sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460314.28211594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal + 3.58sINFOjoint_trajectory_controllerAccepted new action goal + 3.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460313.69548702 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.975ms + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-1.28, 6.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-2.17, 6.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.155ms + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.85sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460314.28211594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal + 3.58sINFOjoint_trajectory_controllerAccepted new action goal + 3.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460313.69548702 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.975ms + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-1.28, 6.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-2.17, 6.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.155ms + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.85sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460314.28211594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal + 3.58sINFOjoint_trajectory_controllerAccepted new action goal + 3.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097441 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039812 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233716 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460313.69548702 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.975ms + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-1.28, 6.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-2.17, 6.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.155ms + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.85sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460314.28211594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003951 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal + 3.58sINFOjoint_trajectory_controllerAccepted new action goal + 3.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678480 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964796 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	27 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058731 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058731 ms (missed cycles : 2).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802931 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802931 ms (missed cycles : 4).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037661 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037661 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788460352.94197917 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.848ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118532 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118532 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788460353.52470064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980800 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980800 ms (missed cycles : 3).[0m ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.73, -4.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (2.03, -3.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707777 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707777 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	27 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058731 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058731 ms (missed cycles : 2).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802931 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802931 ms (missed cycles : 4).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037661 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037661 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788460352.94197917 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.848ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118532 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118532 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788460353.52470064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980800 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980800 ms (missed cycles : 3).[0m ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.73, -4.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (2.03, -3.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707777 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707777 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	27 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058731 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058731 ms (missed cycles : 2).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802931 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802931 ms (missed cycles : 4).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037661 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037661 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788460352.94197917 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.848ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118532 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118532 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788460353.52470064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980800 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980800 ms (missed cycles : 3).[0m ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.73, -4.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (2.03, -3.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707777 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707777 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.23sINFOmove_groupClearing octomap...[0m ×2 + 2.23sINFOmove_groupOctomap cleared.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788460498.61678553 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788460499.20100617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.23sINFOmove_groupClearing octomap...[0m ×2 + 2.23sINFOmove_groupOctomap cleared.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788460498.61678553 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788460499.20100617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788460498.61678553 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788460499.20100617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788460498.61678553 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788460499.20100617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788460498.61678553 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788460499.20100617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012491 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218667 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099888 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788460498.61678553 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548777 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788460499.20100617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322768 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232835 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 117 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.738ms + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885904 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885904 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.612ms + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728297 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728297 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787233 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787233 ms (missed cycles : 2).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788460572.42231798 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.237ms + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788460573.04037285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908614 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908614 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788460573.50050426 seconds ×3 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788460574.07680511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164677 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164677 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788460574.80692959 seconds ×3 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307745 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307745 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.23sINFOmove_groupClearing octomap...[0m ×2 + 2.23sINFOmove_groupOctomap cleared.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437440 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437440 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 2.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.38sINFOobjective_server_nodecaller: ×10 + 3.38sINFOobjective_server_nodetype: 0 ×10 + 3.38sINFOobjective_server_nodename: "" ×10 + 3.38sINFOobjective_server_nodeinstance_id: "" ×10 + 3.38sINFOobjective_server_node ×10 + 3.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.42sINFOmove_groupClearing octomap...[0m ×2 + 3.42sINFOmove_groupOctomap cleared.[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 4.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 5.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.93sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.03sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.23sINFOmove_groupClearing octomap...[0m ×2 + 2.23sINFOmove_groupOctomap cleared.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 300 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437440 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437440 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 2.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.38sINFOobjective_server_nodecaller: ×10 + 3.38sINFOobjective_server_nodetype: 0 ×10 + 3.38sINFOobjective_server_nodename: "" ×10 + 3.38sINFOobjective_server_nodeinstance_id: "" ×10 + 3.38sINFOobjective_server_node ×10 + 3.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.42sINFOmove_groupClearing octomap...[0m ×2 + 3.42sINFOmove_groupOctomap cleared.[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 4.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 5.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.93sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.23sINFOmove_groupClearing octomap...[0m ×2 + 2.23sINFOmove_groupOctomap cleared.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.23sINFOmove_groupClearing octomap...[0m ×2 + 2.23sINFOmove_groupOctomap cleared.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.23sINFOmove_groupClearing octomap...[0m ×2 + 2.23sINFOmove_groupOctomap cleared.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761433 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.23sINFOmove_groupClearing octomap...[0m ×2 + 2.23sINFOmove_groupOctomap cleared.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

14 skip

− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	visualize_tf.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304210 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.44sINFOobjective_server_nodecaller: ×10 + 1.44sINFOobjective_server_nodetype: 0 ×10 + 1.44sINFOobjective_server_nodename: "" ×10 + 1.44sINFOobjective_server_nodeinstance_id: "" ×10 + 1.44sINFOobjective_server_node ×10 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460204.90211368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.48sINFOmove_groupClearing octomap...[0m ×2 + 1.48sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460204.91241574 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997805 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460205.48603153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460205.49615312 seconds ×3 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460206.07052660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460206.22435594 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318201 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460206.82930088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460206.87942195 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460207.45785069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134386 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862229 ms (missed cycles : 3).[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653891 ms (missed cycles : 2).[0m ×2